Distance Perception of Unknown Environment Based on Kinect

摘要：

　　In order to solve the problem of manipulator working in unknown environment,an accurate sensing method based on Kinect sensor is proposed.In the process of working,the manipulator first establishes the coordinate system of Kinect and the manipulator,and constructs the Bursha coordinate conversion model; Then the model is solved by using the linear total least squares algorithm.Finally,according to the grab point coordinate information obtained by Kinect,it is converted from the coordinate conversion to the manipulator coordinate system; In order to achieve the robots position on the target object.According to the target positioning system provided,the manipulator realizes the precise perception of different objects.

关键词： Kinect Manipulator Distance perception

作者: Yao liu Yangwei Cheng

作者单位: Key Laboratory of Metallurgical Equipment and Control Technology,Ministry of Education,Wuhan Univers Hubei Key Laboratory of Metallurgical Transmission and Manufacturing Engineer,Wuhan University of Sc

会议类型: 国际会议

会议名称: 2019年第二届智能系统研究与机电工程国际会议(ISRME 2019) 2019 2nd International Conference on Intelligent Systems Research and Mechatronics Engineering

会议地点: 太原

会议语种:英文

页码: 144-148

在线出版日期: 2019-06-29（万方平台首次上网日期，不代表论文的发表时间）